Paper detail

A Parallel Dual Fast Gradient Method for MPC Applications

We propose a parallel adaptive constraint-tightening approach to solve a linear model predictive control problem for discrete-time systems, based on inexact numerical optimization algorithms and operator splitting methods. The underlying algorithm first splits the original problem in as many independent subproblems as the length of the prediction horizon. Then, our algorithm computes a solution for these subproblems in parallel by exploiting auxiliary tightened subproblems in order to certify the control law in terms of suboptimality and recursive feasibility, along with closed-loop stability of the controlled system. Compared to prior approaches based on constraint tightening, our algorithm computes the tightening parameter for each subproblem to handle the propagation of errors introduced by the parallelization of the original problem. Our simulations show the computational benefits of the parallelization with positive impacts on performance and numerical conditioning when compared with a recent nonparallel adaptive tightening scheme.